How To? Character Animation Controlled By Player

Hi there I am repetitively new to developing a game on the system and have been going through ways to set up character movement and animation. I wanted to know how to implement my idea the best way possible.

I am right now trying to find a way to make it so the player has control over how the characters move set is followed. Kind of like the game Toribash. But with a more DarkSouls approach.

What I am looking to do is have the player able to set a stance for the character. Then have frames the character will follow that the player will set. So for example. In DarkSouls the character you control has a “battle ready stance” one button press will have the animation play. What I want is to have the player set the way that character will move when the player presses a button. Giving the player more control and ability to make there own moves.

How could I have it were the player has the ability to pick a point that is “arm reach” distance. and be able to have an animation play that can move from point to point.